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Modified source engine (2017) developed by valve and leaked in 2020. Not for commercial purporses
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source-engine/game/server/cstrike/bot/cs_bot_pathfind.cpp

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//========= Copyright Valve Corporation, All rights reserved. ============//
//
// Purpose:
//
// $NoKeywords: $
//=============================================================================//
// Author: Michael S. Booth (mike@turtlerockstudios.com), 2003
#include "cbase.h"
#include "cs_bot.h"
// memdbgon must be the last include file in a .cpp file!!!
#include "tier0/memdbgon.h"
#ifdef _WIN32
#pragma warning (disable:4701) // disable warning that variable *may* not be initialized
#endif
//--------------------------------------------------------------------------------------------------------------
/**
* Finds a point from which we can approach a descending ladder. First it tries behind the ladder,
* then in front of ladder, based on LOS. Once we know the direction, we snap to the aproaching nav
* area. Returns true if we're approaching from behind the ladder.
*/
static bool FindDescendingLadderApproachPoint( const CNavLadder *ladder, const CNavArea *area, Vector *pos )
{
*pos = ladder->m_top - ladder->GetNormal() * 2.0f * HalfHumanWidth;
trace_t result;
UTIL_TraceLine( ladder->m_top, *pos, MASK_PLAYERSOLID_BRUSHONLY, NULL, COLLISION_GROUP_NONE, &result );
if (result.fraction < 1.0f)
{
*pos = ladder->m_top + ladder->GetNormal() * 2.0f * HalfHumanWidth;
area->GetClosestPointOnArea( *pos, pos );
}
// Use a cross product to determine which side of the ladder 'pos' is on
Vector posToLadder = *pos - ladder->m_top;
float dot = posToLadder.Dot( ladder->GetNormal() );
return ( dot < 0.0f );
}
//--------------------------------------------------------------------------------------------------------------
/**
* Determine actual path positions bot will move between along the path
*/
bool CCSBot::ComputePathPositions( void )
{
if (m_pathLength == 0)
return false;
// start in first area's center
m_path[0].pos = m_path[0].area->GetCenter();
m_path[0].ladder = NULL;
m_path[0].how = NUM_TRAVERSE_TYPES;
for( int i=1; i<m_pathLength; ++i )
{
const ConnectInfo *from = &m_path[ i-1 ];
ConnectInfo *to = &m_path[ i ];
if (to->how <= GO_WEST) // walk along the floor to the next area
{
to->ladder = NULL;
// compute next point, keeping path as straight as possible
from->area->ComputeClosestPointInPortal( to->area, (NavDirType)to->how, from->pos, &to->pos );
// move goal position into the goal area a bit
const float stepInDist = 5.0f; // how far to "step into" an area - must be less than min area size
AddDirectionVector( &to->pos, (NavDirType)to->how, stepInDist );
// we need to walk out of "from" area, so keep Z where we can reach it
to->pos.z = from->area->GetZ( to->pos );
// if this is a "jump down" connection, we must insert an additional point on the path
if (to->area->IsConnected( from->area, NUM_DIRECTIONS ) == false)
{
// this is a "jump down" link
// compute direction of path just prior to "jump down"
Vector2D dir;
DirectionToVector2D( (NavDirType)to->how, &dir );
// shift top of "jump down" out a bit to "get over the ledge"
const float pushDist = 75.0f; // 25.0f;
to->pos.x += pushDist * dir.x;
to->pos.y += pushDist * dir.y;
// insert a duplicate node to represent the bottom of the fall
if (m_pathLength < MAX_PATH_LENGTH-1)
{
// copy nodes down
for( int j=m_pathLength; j>i; --j )
m_path[j] = m_path[j-1];
// path is one node longer
++m_pathLength;
// move index ahead into the new node we just duplicated
++i;
m_path[i].pos.x = to->pos.x;
m_path[i].pos.y = to->pos.y;
// put this one at the bottom of the fall
m_path[i].pos.z = to->area->GetZ( m_path[i].pos );
}
}
}
else if (to->how == GO_LADDER_UP) // to get to next area, must go up a ladder
{
// find our ladder
const NavLadderConnectVector *pLadders = from->area->GetLadders( CNavLadder::LADDER_UP );
int it;
for ( it = 0; it < pLadders->Count(); ++it)
{
CNavLadder *ladder = (*pLadders)[ it ].ladder;
// can't use "behind" area when ascending...
if (ladder->m_topForwardArea == to->area ||
ladder->m_topLeftArea == to->area ||
ladder->m_topRightArea == to->area)
{
to->ladder = ladder;
to->pos = ladder->m_bottom + ladder->GetNormal() * 2.0f * HalfHumanWidth;
break;
}
}
if (it == pLadders->Count())
{
PrintIfWatched( "ERROR: Can't find ladder in path\n" );
return false;
}
}
else if (to->how == GO_LADDER_DOWN) // to get to next area, must go down a ladder
{
// find our ladder
const NavLadderConnectVector *pLadders = from->area->GetLadders( CNavLadder::LADDER_DOWN );
int it;
for ( it = 0; it < pLadders->Count(); ++it)
{
CNavLadder *ladder = (*pLadders)[ it ].ladder;
if (ladder->m_bottomArea == to->area)
{
to->ladder = ladder;
FindDescendingLadderApproachPoint( to->ladder, from->area, &to->pos );
break;
}
}
if (it == pLadders->Count())
{
PrintIfWatched( "ERROR: Can't find ladder in path\n" );
return false;
}
}
}
return true;
}
//--------------------------------------------------------------------------------------------------------------
/**
* If next step of path uses a ladder, prepare to traverse it
*/
void CCSBot::SetupLadderMovement( void )
{
if (m_pathIndex < 1 || m_pathLength == 0)
return;
const ConnectInfo *to = &m_path[ m_pathIndex ];
const ConnectInfo *from = &m_path[ m_pathIndex - 1 ];
if (to->ladder)
{
m_spotEncounter = NULL;
m_areaEnteredTimestamp = gpGlobals->curtime;
m_pathLadder = to->ladder;
m_pathLadderTimestamp = gpGlobals->curtime;
QAngle ladderAngles;
VectorAngles( m_pathLadder->GetNormal(), ladderAngles );
// to get to next area, we must traverse a ladder
if (to->how == GO_LADDER_UP)
{
m_pathLadderState = APPROACH_ASCENDING_LADDER;
m_pathLadderFaceIn = true;
PrintIfWatched( "APPROACH_ASCENDING_LADDER\n" );
m_goalPosition = m_pathLadder->m_bottom + m_pathLadder->GetNormal() * 2.0f * HalfHumanWidth;
m_lookAheadAngle = AngleNormalizePositive( ladderAngles[ YAW ] + 180.0f );
}
else
{
// try to mount ladder "face out" first
bool behind = FindDescendingLadderApproachPoint( m_pathLadder, from->area, &m_goalPosition );
if ( behind )
{
PrintIfWatched( "APPROACH_DESCENDING_LADDER (face out)\n" );
m_pathLadderState = APPROACH_DESCENDING_LADDER;
m_pathLadderFaceIn = false;
m_lookAheadAngle = ladderAngles[ YAW ];
}
else
{
PrintIfWatched( "APPROACH_DESCENDING_LADDER (face in)\n" );
m_pathLadderState = APPROACH_DESCENDING_LADDER;
m_pathLadderFaceIn = true;
m_lookAheadAngle = AngleNormalizePositive( ladderAngles[ YAW ] + 180.0f );
}
}
}
}
//--------------------------------------------------------------------------------------------------------------
/// @todo What about ladders whose top AND bottom are messed up?
void CCSBot::ComputeLadderEndpoint( bool isAscending )
{
trace_t result;
Vector from, to;
if (isAscending)
{
// find actual top in case m_pathLadder penetrates the ceiling
// trace from our chest height at m_pathLadder base
from = m_pathLadder->m_bottom + m_pathLadder->GetNormal() * HalfHumanWidth;
from.z = GetAbsOrigin().z + HalfHumanHeight;
to = m_pathLadder->m_top;
}
else
{
// find actual bottom in case m_pathLadder penetrates the floor
// trace from our chest height at m_pathLadder top
from = m_pathLadder->m_top + m_pathLadder->GetNormal() * HalfHumanWidth;
from.z = GetAbsOrigin().z + HalfHumanHeight;
to = m_pathLadder->m_bottom;
}
UTIL_TraceLine( from, m_pathLadder->m_bottom, MASK_PLAYERSOLID_BRUSHONLY, NULL, COLLISION_GROUP_NONE, &result );
if (result.fraction == 1.0f)
m_pathLadderEnd = to.z;
else
m_pathLadderEnd = from.z + result.fraction * (to.z - from.z);
}
//--------------------------------------------------------------------------------------------------------------
/**
* Navigate our current ladder. Return true if we are doing ladder navigation.
* @todo Need Push() and Pop() for run/walk context to keep ladder speed contained.
*/
bool CCSBot::UpdateLadderMovement( void )
{
if (m_pathLadder == NULL)
return false;
bool giveUp = false;
// check for timeout
const float ladderTimeoutDuration = 10.0f;
if (gpGlobals->curtime - m_pathLadderTimestamp > ladderTimeoutDuration && !cv_bot_debug.GetBool())
{
PrintIfWatched( "Ladder timeout!\n" );
giveUp = true;
}
else if (m_pathLadderState == APPROACH_ASCENDING_LADDER ||
m_pathLadderState == APPROACH_DESCENDING_LADDER ||
m_pathLadderState == ASCEND_LADDER ||
m_pathLadderState == DESCEND_LADDER ||
m_pathLadderState == DISMOUNT_ASCENDING_LADDER ||
m_pathLadderState == MOVE_TO_DESTINATION)
{
if (m_isStuck)
{
PrintIfWatched( "Giving up ladder - stuck\n" );
giveUp = true;
}
}
if (giveUp)
{
// jump off ladder and give up
Jump( MUST_JUMP );
Wiggle();
ResetStuckMonitor();
DestroyPath();
Run();
return false;
}
else
{
ResetStuckMonitor();
}
Vector myOrigin = GetCentroid( this );
// check if somehow we totally missed the ladder
switch( m_pathLadderState )
{
case MOUNT_ASCENDING_LADDER:
case MOUNT_DESCENDING_LADDER:
case ASCEND_LADDER:
case DESCEND_LADDER:
{
const float farAway = 200.0f;
const Vector &ladderPos = (m_pathLadderState == MOUNT_ASCENDING_LADDER ||
m_pathLadderState == ASCEND_LADDER) ? m_pathLadder->m_bottom : m_pathLadder->m_top;
if ((ladderPos.AsVector2D() - myOrigin.AsVector2D()).IsLengthGreaterThan( farAway ))
{
PrintIfWatched( "Missed ladder\n" );
Jump( MUST_JUMP );
DestroyPath();
Run();
return false;
}
break;
}
}
m_areaEnteredTimestamp = gpGlobals->curtime;
const float tolerance = 10.0f;
const float closeToGoal = 25.0f;
switch( m_pathLadderState )
{
case APPROACH_ASCENDING_LADDER:
{
bool approached = false;
Vector2D d( myOrigin.x - m_goalPosition.x, myOrigin.y - m_goalPosition.y );
if (d.x * m_pathLadder->GetNormal().x + d.y * m_pathLadder->GetNormal().y < 0.0f)
{
Vector2D perp( -m_pathLadder->GetNormal().y, m_pathLadder->GetNormal().x );
if (fabs(d.x * perp.x + d.y * perp.y) < tolerance && d.Length() < closeToGoal)
approached = true;
}
// small radius will just slow them down a little for more accuracy in hitting their spot
const float walkRange = 50.0f;
if (d.IsLengthLessThan( walkRange ))
{
Walk();
StandUp();
}
if ( d.IsLengthLessThan( 100.0f ) )
{
if ( !IsOnLadder() && (m_pathLadder->m_bottom.z - GetAbsOrigin().z > JumpCrouchHeight ) )
{
// find yaw to directly aim at ladder
QAngle idealAngle;
VectorAngles( GetAbsVelocity(), idealAngle );
const float angleTolerance = 15.0f;
if (AnglesAreEqual( EyeAngles().y, idealAngle.y, angleTolerance ))
{
Jump();
}
}
}
/// @todo Check that we are on the ladder we think we are
if (IsOnLadder())
{
m_pathLadderState = ASCEND_LADDER;
PrintIfWatched( "ASCEND_LADDER\n" );
// find actual top in case m_pathLadder penetrates the ceiling
ComputeLadderEndpoint( true );
}
else if (approached)
{
// face the m_pathLadder
m_pathLadderState = FACE_ASCENDING_LADDER;
PrintIfWatched( "FACE_ASCENDING_LADDER\n" );
}
else
{
// move toward ladder mount point
MoveTowardsPosition( m_goalPosition );
}
break;
}
case APPROACH_DESCENDING_LADDER:
{
// fall check
if (GetFeetZ() <= m_pathLadder->m_bottom.z + HalfHumanHeight)
{
PrintIfWatched( "Fell from ladder.\n" );
m_pathLadderState = MOVE_TO_DESTINATION;
m_path[ m_pathIndex ].area->GetClosestPointOnArea( m_pathLadder->m_bottom, &m_goalPosition );
m_goalPosition += m_pathLadder->GetNormal() * HalfHumanWidth;
PrintIfWatched( "MOVE_TO_DESTINATION\n" );
}
else
{
bool approached = false;
Vector2D d( myOrigin.x - m_goalPosition.x, myOrigin.y - m_goalPosition.y );
if (d.x * m_pathLadder->GetNormal().x + d.y * m_pathLadder->GetNormal().y > 0.0f)
{
Vector2D perp( -m_pathLadder->GetNormal().y, m_pathLadder->GetNormal().x );
if (fabs(d.x * perp.x + d.y * perp.y) < tolerance && d.Length() < closeToGoal)
approached = true;
}
// if approaching ladder from the side or "ahead", walk
if (m_pathLadder->m_topBehindArea != m_lastKnownArea)
{
const float walkRange = 150.0f;
if (!IsCrouching() && d.IsLengthLessThan( walkRange ))
Walk();
}
/// @todo Check that we are on the ladder we think we are
if (IsOnLadder())
{
// we slipped onto the ladder - climb it
m_pathLadderState = DESCEND_LADDER;
Run();
PrintIfWatched( "DESCEND_LADDER\n" );
// find actual bottom in case m_pathLadder penetrates the floor
ComputeLadderEndpoint( false );
}
else if (approached)
{
// face the ladder
m_pathLadderState = FACE_DESCENDING_LADDER;
PrintIfWatched( "FACE_DESCENDING_LADDER\n" );
}
else
{
// move toward ladder mount point
MoveTowardsPosition( m_goalPosition );
}
}
break;
}
case FACE_ASCENDING_LADDER:
{
// find yaw to directly aim at ladder
Vector to = m_pathLadder->GetPosAtHeight(myOrigin.z) - myOrigin;
QAngle idealAngle;
VectorAngles( to, idealAngle );
if (m_path[ m_pathIndex ].area == m_pathLadder->m_topForwardArea)
{
m_pathLadderDismountDir = FORWARD;
}
else if (m_path[ m_pathIndex ].area == m_pathLadder->m_topLeftArea)
{
m_pathLadderDismountDir = LEFT;
idealAngle[ YAW ] = AngleNormalizePositive( idealAngle[ YAW ] + 90.0f );
}
else if (m_path[ m_pathIndex ].area == m_pathLadder->m_topRightArea)
{
m_pathLadderDismountDir = RIGHT;
idealAngle[ YAW ] = AngleNormalizePositive( idealAngle[ YAW ] - 90.0f );
}
const float angleTolerance = 5.0f;
if (AnglesAreEqual( EyeAngles().y, idealAngle.y, angleTolerance ))
{
// move toward ladder until we become "on" it
Run();
ResetStuckMonitor();
m_pathLadderState = MOUNT_ASCENDING_LADDER;
switch (m_pathLadderDismountDir)
{
case LEFT: PrintIfWatched( "MOUNT_ASCENDING_LADDER LEFT\n" ); break;
case RIGHT: PrintIfWatched( "MOUNT_ASCENDING_LADDER RIGHT\n" ); break;
default: PrintIfWatched( "MOUNT_ASCENDING_LADDER FORWARD\n" ); break;
}
}
break;
}
case FACE_DESCENDING_LADDER:
{
// find yaw to directly aim at ladder
Vector to = m_pathLadder->GetPosAtHeight(myOrigin.z) - myOrigin;
QAngle idealAngle;
VectorAngles( to, idealAngle );
const float angleTolerance = 5.0f;
if (AnglesAreEqual( EyeAngles().y, idealAngle.y, angleTolerance ))
{
// move toward ladder until we become "on" it
m_pathLadderState = MOUNT_DESCENDING_LADDER;
ResetStuckMonitor();
PrintIfWatched( "MOUNT_DESCENDING_LADDER\n" );
}
break;
}
case MOUNT_ASCENDING_LADDER:
if (IsOnLadder())
{
m_pathLadderState = ASCEND_LADDER;
PrintIfWatched( "ASCEND_LADDER\n" );
// find actual top in case m_pathLadder penetrates the ceiling
ComputeLadderEndpoint( true );
}
// move toward ladder mount point
if ( !IsOnLadder() && (m_pathLadder->m_bottom.z - GetAbsOrigin().z > JumpCrouchHeight ) )
{
Jump();
}
switch( m_pathLadderDismountDir )
{
case RIGHT: StrafeLeft(); break;
case LEFT: StrafeRight(); break;
default: MoveForward(); break;
}
break;
case MOUNT_DESCENDING_LADDER:
// fall check
if (GetFeetZ() <= m_pathLadder->m_bottom.z + HalfHumanHeight)
{
PrintIfWatched( "Fell from ladder.\n" );
m_pathLadderState = MOVE_TO_DESTINATION;
m_path[ m_pathIndex ].area->GetClosestPointOnArea( m_pathLadder->m_bottom, &m_goalPosition );
m_goalPosition += m_pathLadder->GetNormal() * HalfHumanWidth;
PrintIfWatched( "MOVE_TO_DESTINATION\n" );
}
else
{
if (IsOnLadder())
{
m_pathLadderState = DESCEND_LADDER;
PrintIfWatched( "DESCEND_LADDER\n" );
// find actual bottom in case m_pathLadder penetrates the floor
ComputeLadderEndpoint( false );
}
// move toward ladder mount point
MoveForward();
}
break;
case ASCEND_LADDER:
// run, so we can make our dismount jump to the side, if necessary
Run();
// if our destination area requires us to crouch, do it
if (m_path[ m_pathIndex ].area->GetAttributes() & NAV_MESH_CROUCH)
Crouch();
// did we reach the top?
if (GetFeetZ() >= m_pathLadderEnd)
{
// we reached the top - dismount
m_pathLadderState = DISMOUNT_ASCENDING_LADDER;
PrintIfWatched( "DISMOUNT_ASCENDING_LADDER\n" );
if (m_path[ m_pathIndex ].area == m_pathLadder->m_topForwardArea)
m_pathLadderDismountDir = FORWARD;
else if (m_path[ m_pathIndex ].area == m_pathLadder->m_topLeftArea)
m_pathLadderDismountDir = LEFT;
else if (m_path[ m_pathIndex ].area == m_pathLadder->m_topRightArea)
m_pathLadderDismountDir = RIGHT;
m_pathLadderDismountTimestamp = gpGlobals->curtime;
}
else if (!IsOnLadder())
{
// we fall off the ladder, repath
DestroyPath();
return false;
}
// move up ladder
switch( m_pathLadderDismountDir )
{
case RIGHT: StrafeLeft(); break;
case LEFT: StrafeRight(); break;
default: MoveForward(); break;
}
break;
case DESCEND_LADDER:
{
Run();
float destHeight = m_pathLadderEnd;
if ( (m_path[ m_pathIndex ].area->GetAttributes() & NAV_MESH_NO_JUMP) == 0 )
{
destHeight += HalfHumanHeight;
}
if ( !IsOnLadder() || GetFeetZ() <= destHeight )
{
// we reached the bottom, or we fell off - dismount
m_pathLadderState = MOVE_TO_DESTINATION;
m_path[ m_pathIndex ].area->GetClosestPointOnArea( m_pathLadder->m_bottom, &m_goalPosition );
m_goalPosition += m_pathLadder->GetNormal() * HalfHumanWidth;
PrintIfWatched( "MOVE_TO_DESTINATION\n" );
}
// Move down ladder
MoveForward();
break;
}
case DISMOUNT_ASCENDING_LADDER:
{
if (gpGlobals->curtime - m_pathLadderDismountTimestamp >= 0.4f)
{
m_pathLadderState = MOVE_TO_DESTINATION;
m_path[ m_pathIndex ].area->GetClosestPointOnArea( myOrigin, &m_goalPosition );
PrintIfWatched( "MOVE_TO_DESTINATION\n" );
}
// We should already be facing the dismount point
MoveForward();
break;
}
case MOVE_TO_DESTINATION:
if (m_path[ m_pathIndex ].area->Contains( myOrigin ))
{
// successfully traversed ladder and reached destination area
// exit ladder state machine
PrintIfWatched( "Ladder traversed.\n" );
m_pathLadder = NULL;
// incrememnt path index to next step beyond this ladder
SetPathIndex( m_pathIndex+1 );
ClearLookAt();
return false;
}
MoveTowardsPosition( m_goalPosition );
break;
}
if ( ( cv_bot_traceview.GetInt() == 1 && IsLocalPlayerWatchingMe() ) || cv_bot_traceview.GetInt() == 10 )
{
DrawPath();
}
return true;
}
//--------------------------------------------------------------------------------------------------------------
/**
* Compute closest point on path to given point
* NOTE: This does not do line-of-sight tests, so closest point may be thru the floor, etc
*/
bool CCSBot::FindClosestPointOnPath( const Vector &worldPos, int startIndex, int endIndex, Vector *close ) const
{
if (!HasPath() || close == NULL)
return false;
Vector along, toWorldPos;
Vector pos;
const Vector *from, *to;
float length;
float closeLength;
float closeDistSq = 9999999999.9;
float distSq;
for( int i=startIndex; i<=endIndex; ++i )
{
from = &m_path[i-1].pos;
to = &m_path[i].pos;
// compute ray along this path segment
along = *to - *from;
// make it a unit vector along the path
length = along.NormalizeInPlace();
// compute vector from start of segment to our point
toWorldPos = worldPos - *from;
// find distance of closest point on ray
closeLength = DotProduct( toWorldPos, along );
// constrain point to be on path segment
if (closeLength <= 0.0f)
pos = *from;
else if (closeLength >= length)
pos = *to;
else
pos = *from + closeLength * along;
distSq = (pos - worldPos).LengthSqr();
// keep the closest point so far
if (distSq < closeDistSq)
{
closeDistSq = distSq;
*close = pos;
}
}
return true;
}
//--------------------------------------------------------------------------------------------------------------
/**
* Return the closest point to our current position on our current path
* If "local" is true, only check the portion of the path surrounding m_pathIndex.
*/
int CCSBot::FindOurPositionOnPath( Vector *close, bool local ) const
{
if (!HasPath())
return -1;
Vector along, toFeet;
Vector feet = GetAbsOrigin();
Vector eyes = feet + Vector( 0, 0, HalfHumanHeight ); // in case we're crouching
Vector pos;
const Vector *from, *to;
float length;
float closeLength;
float closeDistSq = 9999999999.9;
int closeIndex = -1;
float distSq;
int start, end;
if (local)
{
start = m_pathIndex - 3;
if (start < 1)
start = 1;
end = m_pathIndex + 3;
if (end > m_pathLength)
end = m_pathLength;
}
else
{
start = 1;
end = m_pathLength;
}
for( int i=start; i<end; ++i )
{
from = &m_path[i-1].pos;
to = &m_path[i].pos;
// compute ray along this path segment
along = *to - *from;
// make it a unit vector along the path
length = along.NormalizeInPlace();
// compute vector from start of segment to our point
toFeet = feet - *from;
// find distance of closest point on ray
closeLength = DotProduct( toFeet, along );
// constrain point to be on path segment
if (closeLength <= 0.0f)
pos = *from;
else if (closeLength >= length)
pos = *to;
else
pos = *from + closeLength * along;
distSq = (pos - feet).LengthSqr();
// keep the closest point so far
if (distSq < closeDistSq)
{
// don't use points we cant see
Vector probe = pos + Vector( 0, 0, HalfHumanHeight );
if (!IsWalkableTraceLineClear( eyes, probe, WALK_THRU_DOORS | WALK_THRU_BREAKABLES ))
continue;
// don't use points we cant reach
if (!IsStraightLinePathWalkable( pos ))
continue;
closeDistSq = distSq;
if (close)
*close = pos;
closeIndex = i-1;
}
}
return closeIndex;
}
//--------------------------------------------------------------------------------------------------------------
/**
* Test for un-jumpable height change, or unrecoverable fall
*/
bool CCSBot::IsStraightLinePathWalkable( const Vector &goal ) const
{
// this is causing hang-up problems when crawling thru ducts/windows that drop off into rooms (they fail the "falling" check)
return true;
const float inc = GenerationStepSize;
Vector feet = GetAbsOrigin();
Vector dir = goal - feet;
float length = dir.NormalizeInPlace();
float lastGround;
//if (!GetSimpleGroundHeight( &pev->origin, &lastGround ))
// return false;
lastGround = feet.z;
float along=0.0f;
Vector pos;
float ground;
bool done = false;
while( !done )
{
along += inc;
if (along > length)
{
along = length;
done = true;
}
// compute step along path
pos = feet + along * dir;
pos.z += HalfHumanHeight;
if (!TheNavMesh->GetSimpleGroundHeight( pos, &ground ))
return false;
// check for falling
if (ground - lastGround < -StepHeight)
return false;
// check for unreachable jump
// use slightly shorter jump limit, to allow for some fudge room
if (ground - lastGround > JumpHeight)
return false;
lastGround = ground;
}
return true;
}
//--------------------------------------------------------------------------------------------------------------
/**
* Compute a point a fixed distance ahead along our path.
* Returns path index just after point.
*/
int CCSBot::FindPathPoint( float aheadRange, Vector *point, int *prevIndex )
{
Vector myOrigin = GetCentroid( this );
// find path index just past aheadRange
int afterIndex;
// finds the closest point on local area of path, and returns the path index just prior to it
Vector close;
int startIndex = FindOurPositionOnPath( &close, true );
if (prevIndex)
*prevIndex = startIndex;
if (startIndex <= 0)
{
// went off the end of the path
// or next point in path is unwalkable (ie: jump-down)
// keep same point
return m_pathIndex;
}
// if we are crouching, just follow the path exactly
if (IsCrouching())
{
// we want to move to the immediately next point along the path from where we are now
int index = startIndex+1;
if (index >= m_pathLength)
index = m_pathLength-1;
*point = m_path[ index ].pos;
// if we are very close to the next point in the path, skip ahead to the next one to avoid wiggling
// we must do a 2D check here, in case the goal point is floating in space due to jump down, etc
const float closeEpsilon = 20.0f; // 10
while ((*point - close).AsVector2D().IsLengthLessThan( closeEpsilon ))
{
++index;
if (index >= m_pathLength)
{
index = m_pathLength-1;
break;
}
*point = m_path[ index ].pos;
}
return index;
}
// make sure we use a node a minimum distance ahead of us, to avoid wiggling
while (startIndex < m_pathLength-1)
{
Vector pos = m_path[ startIndex+1 ].pos;
// we must do a 2D check here, in case the goal point is floating in space due to jump down, etc
const float closeEpsilon = 20.0f;
if ((pos - close).AsVector2D().IsLengthLessThan( closeEpsilon ))
{
++startIndex;
}
else
{
break;
}
}
// if we hit a ladder, stop, or jump area, must stop (dont use ladder behind us)
if (startIndex > m_pathIndex && startIndex < m_pathLength &&
(m_path[ startIndex ].ladder || m_path[ startIndex ].area->GetAttributes() & (NAV_MESH_JUMP | NAV_MESH_STOP)))
{
*point = m_path[ startIndex ].pos;
return startIndex;
}
// we need the point just *ahead* of us
++startIndex;
if (startIndex >= m_pathLength)
startIndex = m_pathLength-1;
// if we hit a ladder, stop, or jump area, must stop
if (startIndex < m_pathLength &&
(m_path[ startIndex ].ladder || m_path[ startIndex ].area->GetAttributes() & (NAV_MESH_JUMP | NAV_MESH_STOP)))
{
*point = m_path[ startIndex ].pos;
return startIndex;
}
// note direction of path segment we are standing on
Vector initDir = m_path[ startIndex ].pos - m_path[ startIndex-1 ].pos;
initDir.NormalizeInPlace();
Vector feet = GetAbsOrigin();
Vector eyes = feet + Vector( 0, 0, HalfHumanHeight );
float rangeSoFar = 0;
// this flag is true if our ahead point is visible
bool visible = true;
Vector prevDir = initDir;
// step along the path until we pass aheadRange
bool isCorner = false;
int i;
for( i=startIndex; i<m_pathLength; ++i )
{
Vector pos = m_path[i].pos;
Vector to = pos - m_path[i-1].pos;
Vector dir = to;
dir.NormalizeInPlace();
// don't allow path to double-back from our starting direction (going upstairs, down curved passages, etc)
if (DotProduct( dir, initDir ) < 0.0f) // -0.25f
{
--i;
break;
}
// if the path turns a corner, we want to move towards the corner, not into the wall/stairs/etc
if (DotProduct( dir, prevDir ) < 0.5f)
{
isCorner = true;
--i;
break;
}
prevDir = dir;
// don't use points we cant see
Vector probe = pos + Vector( 0, 0, HalfHumanHeight );
if (!IsWalkableTraceLineClear( eyes, probe, WALK_THRU_BREAKABLES ))
{
// presumably, the previous point is visible, so we will interpolate
visible = false;
break;
}
// if we encounter a ladder or jump area, we must stop
if (i < m_pathLength &&
(m_path[ i ].ladder || m_path[ i ].area->GetAttributes() & NAV_MESH_JUMP))
break;
// Check straight-line path from our current position to this position
// Test for un-jumpable height change, or unrecoverable fall
if (!IsStraightLinePathWalkable( pos ))
{
--i;
break;
}
Vector along = (i == startIndex) ? (pos - feet) : (pos - m_path[i-1].pos);
rangeSoFar += along.Length2D();
// stop if we have gone farther than aheadRange
if (rangeSoFar >= aheadRange)
break;
}
if (i < startIndex)
afterIndex = startIndex;
else if (i < m_pathLength)
afterIndex = i;
else
afterIndex = m_pathLength-1;
// compute point on the path at aheadRange
if (afterIndex == 0)
{
*point = m_path[0].pos;
}
else
{
// interpolate point along path segment
const Vector *afterPoint = &m_path[ afterIndex ].pos;
const Vector *beforePoint = &m_path[ afterIndex-1 ].pos;
Vector to = *afterPoint - *beforePoint;
float length = to.Length2D();
float t = 1.0f - ((rangeSoFar - aheadRange) / length);
if (t < 0.0f)
t = 0.0f;
else if (t > 1.0f)
t = 1.0f;
*point = *beforePoint + t * to;
// if afterPoint wasn't visible, slide point backwards towards beforePoint until it is
if (!visible)
{
const float sightStepSize = 25.0f;
float dt = sightStepSize / length;
Vector probe = *point + Vector( 0, 0, HalfHumanHeight );
while( t > 0.0f && !IsWalkableTraceLineClear( eyes, probe, WALK_THRU_BREAKABLES ) )
{
t -= dt;
*point = *beforePoint + t * to;
}
if (t <= 0.0f)
*point = *beforePoint;
}
}
// if position found is too close to us, or behind us, force it farther down the path so we don't stop and wiggle
if (!isCorner)
{
const float epsilon = 50.0f;
Vector2D toPoint;
toPoint.x = point->x - myOrigin.x;
toPoint.y = point->y - myOrigin.y;
if (DotProduct2D( toPoint, initDir.AsVector2D() ) < 0.0f || toPoint.IsLengthLessThan( epsilon ))
{
int i;
for( i=startIndex; i<m_pathLength; ++i )
{
toPoint.x = m_path[i].pos.x - myOrigin.x;
toPoint.y = m_path[i].pos.y - myOrigin.y;
if (m_path[i].ladder || m_path[i].area->GetAttributes() & NAV_MESH_JUMP || toPoint.IsLengthGreaterThan( epsilon ))
{
*point = m_path[i].pos;
startIndex = i;
break;
}
}
if (i == m_pathLength)
{
*point = GetPathEndpoint();
startIndex = m_pathLength-1;
}
}
}
// m_pathIndex should always be the next point on the path, even if we're not moving directly towards it
return startIndex;
}
//--------------------------------------------------------------------------------------------------------------
/**
* Set the current index along the path
*/
void CCSBot::SetPathIndex( int newIndex )
{
m_pathIndex = MIN( newIndex, m_pathLength-1 );
m_areaEnteredTimestamp = gpGlobals->curtime;
if (m_path[ m_pathIndex ].ladder)
{
SetupLadderMovement();
}
else
{
// get our "encounter spots" for this leg of the path
if (m_pathIndex < m_pathLength && m_pathIndex >= 2)
m_spotEncounter = m_path[ m_pathIndex-1 ].area->GetSpotEncounter( m_path[ m_pathIndex-2 ].area, m_path[ m_pathIndex ].area );
else
m_spotEncounter = NULL;
m_pathLadder = NULL;
}
}
//--------------------------------------------------------------------------------------------------------------
/**
* Return true if nearing a jump in the path
*/
bool CCSBot::IsNearJump( void ) const
{
if (m_pathIndex == 0 || m_pathIndex >= m_pathLength)
return false;
for( int i=m_pathIndex-1; i<m_pathIndex; ++i )
{
if (m_path[ i ].area->GetAttributes() & NAV_MESH_JUMP)
{
float dz = m_path[ i+1 ].pos.z - m_path[ i ].pos.z;
if (dz > 0.0f)
return true;
}
}
return false;
}
//--------------------------------------------------------------------------------------------------------------
/**
* Return approximately how much damage will will take from the given fall height
*/
float CCSBot::GetApproximateFallDamage( float height ) const
{
// empirically discovered height values
const float slope = 0.2178f;
const float intercept = 26.0f;
float damage = slope * height - intercept;
if (damage < 0.0f)
return 0.0f;
return damage;
}
//--------------------------------------------------------------------------------------------------------------
/**
* Return true if a friend is between us and the given position
*/
bool CCSBot::IsFriendInTheWay( const Vector &goalPos )
{
// do this check less often to ease CPU burden
if (!m_avoidFriendTimer.IsElapsed())
{
return m_isFriendInTheWay;
}
const float avoidFriendInterval = 0.5f;
m_avoidFriendTimer.Start( avoidFriendInterval );
// compute ray along intended path
Vector myOrigin = GetCentroid( this );
Vector moveDir = goalPos - myOrigin;
// make it a unit vector
float length = moveDir.NormalizeInPlace();
m_isFriendInTheWay = false;
// check if any friends are overlapping this linear path
for( int i = 1; i <= gpGlobals->maxClients; ++i )
{
CCSPlayer *player = static_cast<CCSPlayer *>( UTIL_PlayerByIndex( i ) );
if (player == NULL)
continue;
if (!player->IsAlive())
continue;
if (!player->InSameTeam( this ))
continue;
if (player->entindex() == entindex())
continue;
// compute vector from us to our friend
Vector toFriend = player->GetAbsOrigin() - GetAbsOrigin();
// check if friend is in our "personal space"
const float personalSpace = 100.0f;
if (toFriend.IsLengthGreaterThan( personalSpace ))
continue;
// find distance of friend along our movement path
float friendDistAlong = DotProduct( toFriend, moveDir );
// if friend is behind us, ignore him
if (friendDistAlong <= 0.0f)
continue;
// constrain point to be on path segment
Vector pos;
if (friendDistAlong >= length)
pos = goalPos;
else
pos = myOrigin + friendDistAlong * moveDir;
// check if friend overlaps our intended line of movement
const float friendRadius = 30.0f;
if ((pos - GetCentroid( player )).IsLengthLessThan( friendRadius ))
{
// friend is in our personal space and overlaps our intended line of movement
m_isFriendInTheWay = true;
break;
}
}
return m_isFriendInTheWay;
}
//--------------------------------------------------------------------------------------------------------------
/**
* Do reflex avoidance movements if our "feelers" are touched
*/
void CCSBot::FeelerReflexAdjustment( Vector *goalPosition )
{
// if we are in a "precise" area, do not do feeler adjustments
if (m_lastKnownArea && m_lastKnownArea->GetAttributes() & NAV_MESH_PRECISE)
return;
Vector dir( BotCOS( m_forwardAngle ), BotSIN( m_forwardAngle ), 0.0f );
Vector lat( -dir.y, dir.x, 0.0f );
const float feelerOffset = (IsCrouching()) ? 15.0f : 20.0f;
const float feelerLengthRun = 50.0f; // 100 - too long for tight hallways (cs_747)
const float feelerLengthWalk = 30.0f;
const float feelerHeight = StepHeight + 0.1f; // if obstacle is lower than StepHeight, we'll walk right over it
float feelerLength = (IsRunning()) ? feelerLengthRun : feelerLengthWalk;
feelerLength = (IsCrouching()) ? 20.0f : feelerLength;
//
// Feelers must follow floor slope
//
float ground;
Vector normal;
Vector eye = EyePosition();
if (GetSimpleGroundHeightWithFloor( eye, &ground, &normal ) == false)
return;
// get forward vector along floor
dir = CrossProduct( lat, normal );
// correct the sideways vector
lat = CrossProduct( dir, normal );
Vector feet = GetAbsOrigin();
feet.z += feelerHeight;
Vector from = feet + feelerOffset * lat;
Vector to = from + feelerLength * dir;
bool leftClear = IsWalkableTraceLineClear( from, to, WALK_THRU_DOORS | WALK_THRU_BREAKABLES );
// avoid ledges, too
// use 'from' so it doesn't interfere with legitimate gap jumping (its at our feet)
/// @todo Rethink this - it causes lots of wiggling when bots jump down from vents, etc
/*
float ground;
if (GetSimpleGroundHeightWithFloor( &from, &ground ))
{
if (GetFeetZ() - ground > JumpHeight)
leftClear = false;
}
*/
if ( ( cv_bot_traceview.GetInt() == 1 && IsLocalPlayerWatchingMe() ) || cv_bot_traceview.GetInt() == 10 )
{
if (leftClear)
UTIL_DrawBeamPoints( from, to, 1, 0, 255, 0 );
else
UTIL_DrawBeamPoints( from, to, 1, 255, 0, 0 );
}
from = feet - feelerOffset * lat;
to = from + feelerLength * dir;
bool rightClear = IsWalkableTraceLineClear( from, to, WALK_THRU_DOORS | WALK_THRU_BREAKABLES );
/*
// avoid ledges, too
if (GetSimpleGroundHeightWithFloor( &from, &ground ))
{
if (GetFeetZ() - ground > JumpHeight)
rightClear = false;
}
*/
if ( ( cv_bot_traceview.GetInt() == 1 && IsLocalPlayerWatchingMe() ) || cv_bot_traceview.GetInt() == 10 )
{
if (rightClear)
UTIL_DrawBeamPoints( from, to, 1, 0, 255, 0 );
else
UTIL_DrawBeamPoints( from, to, 1, 255, 0, 0 );
}
const float avoidRange = (IsCrouching()) ? 150.0f : 300.0f; // 50, 300
if (!rightClear)
{
if (leftClear)
{
// right hit, left clear - veer left
*goalPosition = *goalPosition + avoidRange * lat;
}
}
else if (!leftClear)
{
// right clear, left hit - veer right
*goalPosition = *goalPosition - avoidRange * lat;
}
}
//--------------------------------------------------------------------------------------------------------------
/**
* Allows the current nav area to make us run/walk without messing with our state
*/
bool CCSBot::IsRunning( void ) const
{
// if we've forced running, go with it
if ( !m_mustRunTimer.IsElapsed() )
{
return BaseClass::IsRunning();
}
if ( m_lastKnownArea && m_lastKnownArea->GetAttributes() & NAV_MESH_RUN )
{
return true;
}
if ( m_lastKnownArea && m_lastKnownArea->GetAttributes() & NAV_MESH_WALK )
{
return false;
}
return BaseClass::IsRunning();
}
//--------------------------------------------------------------------------------------------------------------
/**
* Move along the path. Return false if end of path reached.
*/
CCSBot::PathResult CCSBot::UpdatePathMovement( bool allowSpeedChange )
{
VPROF_BUDGET( "CCSBot::UpdatePathMovement", VPROF_BUDGETGROUP_NPCS );
if (m_pathLength == 0)
return PATH_FAILURE;
if (cv_bot_walk.GetBool())
Walk();
//
// If we are navigating a ladder, it overrides all other path movement until complete
//
if (UpdateLadderMovement())
return PROGRESSING;
// ladder failure can destroy the path
if (m_pathLength == 0)
return PATH_FAILURE;
// we are not supposed to be on a ladder - if we are, jump off
if (IsOnLadder())
Jump( MUST_JUMP );
assert( m_pathIndex < m_pathLength );
//
// Stop path attribute
//
if (!IsUsingLadder())
{
// if the m_isStopping flag is set, clear our movement
// if the m_isStopping flag is set and movement is stopped, clear m_isStopping
if ( m_lastKnownArea && m_isStopping )
{
ResetStuckMonitor();
ClearMovement();
if ( GetAbsVelocity().LengthSqr() < 0.1f )
{
m_isStopping = false;
}
else
{
return PROGRESSING;
}
}
} // end stop logic
//
// Check if reached the end of the path
//
bool nearEndOfPath = false;
if (m_pathIndex >= m_pathLength-1)
{
Vector toEnd = GetPathEndpoint() - GetAbsOrigin();
Vector d = toEnd; // can't use 2D because path end may be below us (jump down)
const float walkRange = 200.0f;
// walk as we get close to the goal position to ensure we hit it
if (d.IsLengthLessThan( walkRange ))
{
// don't walk if crouching - too slow
if (allowSpeedChange && !IsCrouching())
Walk();
// note if we are near the end of the path
const float nearEndRange = 50.0f;
if (d.IsLengthLessThan( nearEndRange ))
nearEndOfPath = true;
const float closeEpsilon = 20.0f;
if (d.IsLengthLessThan( closeEpsilon ))
{
// reached goal position - path complete
DestroyPath();
/// @todo We should push and pop walk state here, in case we want to continue walking after reaching goal
if (allowSpeedChange)
Run();
return END_OF_PATH;
}
}
}
//
// To keep us moving smoothly, we will move towards
// a point farther ahead of us down our path.
//
int prevIndex = 0; // closest index on path just prior to where we are now
const float aheadRange = 300.0f;
int newIndex = FindPathPoint( aheadRange, &m_goalPosition, &prevIndex );
// BOTPORT: Why is prevIndex sometimes -1?
if (prevIndex < 0)
prevIndex = 0;
// if goal position is near to us, we must be about to go around a corner - so look ahead!
Vector myOrigin = GetCentroid( this );
const float nearCornerRange = 100.0f;
if (m_pathIndex < m_pathLength-1 && (m_goalPosition - myOrigin).IsLengthLessThan( nearCornerRange ))
{
if (!IsLookingAtSpot( PRIORITY_HIGH ))
{
ClearLookAt();
InhibitLookAround( 0.5f );
}
}
// if we moved to a new node on the path, setup movement
if (newIndex > m_pathIndex)
{
SetPathIndex( newIndex );
}
//
// Crouching
//
if (!IsUsingLadder())
{
// if we are approaching a crouch area, crouch
// if there are no crouch areas coming up, stand
const float crouchRange = 50.0f;
bool didCrouch = false;
for( int i=prevIndex; i<m_pathLength; ++i )
{
const CNavArea *to = m_path[i].area;
// if there is a jump area on the way to the crouch area, don't crouch as it messes up the jump
// unless we are already higher than the jump area - we must've jumped already but not moved into next area
if (to->GetAttributes() & NAV_MESH_JUMP && to->GetCenter().z > GetFeetZ())
break;
Vector close;
to->GetClosestPointOnArea( myOrigin, &close );
if ((close - myOrigin).AsVector2D().IsLengthGreaterThan( crouchRange ))
break;
if (to->GetAttributes() & NAV_MESH_CROUCH)
{
Crouch();
didCrouch = true;
ResetStuckMonitor();
break;
}
}
if (!didCrouch && !IsJumping())
{
// no crouch areas coming up
StandUp();
}
} // end crouching logic
// compute our forward facing angle
m_forwardAngle = UTIL_VecToYaw( m_goalPosition - myOrigin );
//
// Look farther down the path to "lead" our view around corners
//
Vector toGoal;
bool isWaitingForLadder = false;
// if we are crouching, look towards where we are moving to negotiate tight corners
if (IsCrouching())
{
m_lookAheadAngle = m_forwardAngle;
}
else
{
if (m_pathIndex == 0)
{
toGoal = m_path[1].pos;
}
else if (m_pathIndex < m_pathLength)
{
toGoal = m_path[ m_pathIndex ].pos - myOrigin;
// actually aim our view farther down the path
const float lookAheadRange = 500.0f;
if (!m_path[ m_pathIndex ].ladder &&
!IsNearJump() &&
toGoal.AsVector2D().IsLengthLessThan( lookAheadRange ))
{
float along = toGoal.Length2D();
int i;
for( i=m_pathIndex+1; i<m_pathLength; ++i )
{
Vector delta = m_path[i].pos - m_path[i-1].pos;
float segmentLength = delta.Length2D();
if (along + segmentLength >= lookAheadRange)
{
// interpolate between points to keep look ahead point at fixed distance
float t = (lookAheadRange - along) / (segmentLength + along);
Vector target;
if (t <= 0.0f)
target = m_path[i-1].pos;
else if (t >= 1.0f)
target = m_path[i].pos;
else
target = m_path[i-1].pos + t * delta;
toGoal = target - myOrigin;
break;
}
// if we are coming up to a ladder or a jump, look at it
if (m_path[i].ladder ||
(m_path[i].area->GetAttributes() & NAV_MESH_JUMP) ||
(m_path[i].area->GetAttributes() & NAV_MESH_PRECISE) ||
(m_path[i].area->GetAttributes() & NAV_MESH_STOP))
{
toGoal = m_path[i].pos - myOrigin;
// if anyone is on the ladder, wait
if (m_path[i].ladder && m_path[i].ladder->IsInUse( this ))
{
isWaitingForLadder = true;
ResetStuckMonitor();
// if we are too close to the ladder, back off a bit
const float tooCloseRange = 100.0f;
Vector2D delta( m_path[i].ladder->m_top.x - myOrigin.x,
m_path[i].ladder->m_top.y - myOrigin.y );
if (delta.IsLengthLessThan( tooCloseRange ))
{
MoveAwayFromPosition( m_path[i].ladder->m_top );
}
}
break;
}
along += segmentLength;
}
if (i == m_pathLength)
toGoal = GetPathEndpoint() - myOrigin;
}
}
else
{
toGoal = GetPathEndpoint() - myOrigin;
}
m_lookAheadAngle = UTIL_VecToYaw( toGoal );
}
// initialize "adjusted" goal to current goal
Vector adjustedGoal = m_goalPosition;
//
// Use short "feelers" to veer away from close-range obstacles
// Feelers come from our ankles, just above StepHeight, so we avoid short walls, too
// Don't use feelers if very near the end of the path, or about to jump
//
/// @todo Consider having feelers at several heights to deal with overhangs, etc.
if (!nearEndOfPath && !IsNearJump() && !IsJumping())
{
FeelerReflexAdjustment( &adjustedGoal );
}
// draw debug visualization
if ( ( cv_bot_traceview.GetInt() == 1 && IsLocalPlayerWatchingMe() ) || cv_bot_traceview.GetInt() == 10 )
{
DrawPath();
const Vector *pos = &m_path[ m_pathIndex ].pos;
UTIL_DrawBeamPoints( *pos, *pos + Vector( 0, 0, 50 ), 1, 255, 255, 0 );
UTIL_DrawBeamPoints( adjustedGoal, adjustedGoal + Vector( 0, 0, 50 ), 1, 255, 0, 255 );
UTIL_DrawBeamPoints( myOrigin, adjustedGoal + Vector( 0, 0, 50 ), 1, 255, 0, 255 );
}
// dont use adjustedGoal, as it can vary wildly from the feeler adjustment
if (!IsAttacking() && IsFriendInTheWay( m_goalPosition ))
{
if (!m_isWaitingBehindFriend)
{
m_isWaitingBehindFriend = true;
const float politeDuration = 5.0f - 3.0f * GetProfile()->GetAggression();
m_politeTimer.Start( politeDuration );
}
else if (m_politeTimer.IsElapsed())
{
// we have run out of patience
m_isWaitingBehindFriend = false;
ResetStuckMonitor();
// repath to avoid clump of friends in the way
DestroyPath();
}
}
else if (m_isWaitingBehindFriend)
{
// we're done waiting for our friend to move
m_isWaitingBehindFriend = false;
ResetStuckMonitor();
}
//
// Move along our path if there are no friends blocking our way,
// or we have run out of patience
//
if (!isWaitingForLadder && (!m_isWaitingBehindFriend || m_politeTimer.IsElapsed()))
{
//
// Move along path
//
MoveTowardsPosition( adjustedGoal );
//
// Stuck check
//
if (m_isStuck && !IsJumping())
{
Wiggle();
}
}
// if our goal is high above us, we must have fallen
bool didFall = false;
if (m_goalPosition.z - GetFeetZ() > JumpCrouchHeight)
{
const float closeRange = 75.0f;
Vector2D to( myOrigin.x - m_goalPosition.x, myOrigin.y - m_goalPosition.y );
if (to.IsLengthLessThan( closeRange ))
{
// we can't reach the goal position
// check if we can reach the next node, in case this was a "jump down" situation
if (m_pathIndex < m_pathLength-1)
{
if (m_path[ m_pathIndex+1 ].pos.z - GetFeetZ() > JumpCrouchHeight)
{
// the next node is too high, too - we really did fall of the path
didFall = true;
for ( int i=m_pathIndex; i<=m_pathIndex+1; ++i )
{
if ( m_path[i].how == GO_LADDER_UP )
{
// if we're going up a ladder, and we're within reach of the ladder bottom, we haven't fallen
if ( m_path[i].pos.z - GetFeetZ() <= JumpCrouchHeight )
{
didFall = false;
break;
}
}
}
}
}
else
{
// fell trying to get to the last node in the path
didFall = true;
}
}
}
//
// This timeout check is needed if the bot somehow slips way off
// of its path and cannot progress, but also moves around
// enough that it never becomes "stuck"
//
const float giveUpDuration = 4.0f;
if (didFall || gpGlobals->curtime - m_areaEnteredTimestamp > giveUpDuration)
{
if (didFall)
{
PrintIfWatched( "I fell off!\n" );
if (IsLocalPlayerWatchingMe() && cv_bot_debug.GetBool() && UTIL_GetListenServerHost())
{
CBasePlayer *localPlayer = UTIL_GetListenServerHost();
CSingleUserRecipientFilter filter( localPlayer );
EmitSound( filter, localPlayer->entindex(), "Bot.FellOff" );
}
}
// if we havent made any progress in a long time, give up
if (m_pathIndex < m_pathLength-1)
{
PrintIfWatched( "Giving up trying to get to area #%d\n", m_path[ m_pathIndex ].area->GetID() );
}
else
{
PrintIfWatched( "Giving up trying to get to end of path\n" );
}
Run();
StandUp();
DestroyPath();
ClearLookAt();
// See if we should be on a different nav area
CNavArea *area = TheNavMesh->GetNearestNavArea( GetAbsOrigin(), false, 500.0f, true );
if (area && area != m_lastNavArea)
{
if (m_lastNavArea)
{
m_lastNavArea->DecrementPlayerCount( GetTeamNumber(), entindex() );
}
area->IncrementPlayerCount( GetTeamNumber(), entindex() );
m_lastNavArea = area;
if ( area->GetPlace() != UNDEFINED_PLACE )
{
const char *placeName = TheNavMesh->PlaceToName( area->GetPlace() );
if ( placeName && *placeName )
{
Q_strncpy( m_szLastPlaceName.GetForModify(), placeName, MAX_PLACE_NAME_LENGTH );
}
}
// generate event
//KeyValues *event = new KeyValues( "player_entered_area" );
//event->SetInt( "userid", GetUserID() );
//event->SetInt( "areaid", area->GetID() );
//gameeventmanager->FireEvent( event );
}
return PATH_FAILURE;
}
return PROGRESSING;
}
//--------------------------------------------------------------------------------------------------------------
/**
* Build trivial path to goal, assuming we are already in the same area
*/
void CCSBot::BuildTrivialPath( const Vector &goal )
{
Vector myOrigin = GetCentroid( this );
m_pathIndex = 1;
m_pathLength = 2;
m_path[0].area = m_lastKnownArea;
m_path[0].pos = myOrigin;
m_path[0].pos.z = m_lastKnownArea->GetZ( myOrigin );
m_path[0].ladder = NULL;
m_path[0].how = NUM_TRAVERSE_TYPES;
m_path[1].area = m_lastKnownArea;
m_path[1].pos = goal;
m_path[1].pos.z = m_lastKnownArea->GetZ( goal );
m_path[1].ladder = NULL;
m_path[1].how = NUM_TRAVERSE_TYPES;
m_areaEnteredTimestamp = gpGlobals->curtime;
m_spotEncounter = NULL;
m_pathLadder = NULL;
m_goalPosition = goal;
}
//--------------------------------------------------------------------------------------------------------------
/**
* Compute shortest path to goal position via A* algorithm
* If 'goalArea' is NULL, path will get as close as it can.
*/
bool CCSBot::ComputePath( const Vector &goal, RouteType route )
{
VPROF_BUDGET( "CCSBot::ComputePath", VPROF_BUDGETGROUP_NPCS );
//
// Throttle re-pathing
//
if (!m_repathTimer.IsElapsed())
return false;
// randomize to distribute CPU load
m_repathTimer.Start( RandomFloat( 0.4f, 0.6f ) );
DestroyPath();
m_pathLadder = NULL;
CNavArea *goalArea = TheNavMesh->GetNearestNavArea( goal );
CNavArea *startArea = m_lastKnownArea;
if (startArea == NULL)
return false;
// if we fell off a ledge onto an area off the mesh, we will path from the
// ledge above our heads, resulting in a path we can't follow.
Vector close;
startArea->GetClosestPointOnArea( EyePosition(), &close );
if (close.z - GetAbsOrigin().z > JumpCrouchHeight)
{
// we can't reach our last known area - find nearest area to us
PrintIfWatched( "Last known area is above my head - resetting to nearest area.\n" );
m_lastKnownArea = (CCSNavArea*)TheNavMesh->GetNearestNavArea( GetAbsOrigin(), false, 500.0f, true );
if (m_lastKnownArea == NULL)
{
return false;
}
startArea = m_lastKnownArea;
}
// note final specific position
Vector pathEndPosition = goal;
// make sure path end position is on the ground
if (goalArea)
pathEndPosition.z = goalArea->GetZ( pathEndPosition );
else
TheNavMesh->GetGroundHeight( pathEndPosition, &pathEndPosition.z );
// if we are already in the goal area, build trivial path
if (startArea == goalArea)
{
BuildTrivialPath( pathEndPosition );
return true;
}
//
// Compute shortest path to goal
//
CNavArea *closestArea = NULL;
PathCost cost( this, route );
bool pathToGoalExists = NavAreaBuildPath( startArea, goalArea, &goal, cost, &closestArea );
CNavArea *effectiveGoalArea = (pathToGoalExists) ? goalArea : closestArea;
//
// Build path by following parent links
//
// get count
int count = 0;
CNavArea *area;
for( area = effectiveGoalArea; area; area = area->GetParent() )
++count;
// save room for endpoint
if (count > MAX_PATH_LENGTH-1)
count = MAX_PATH_LENGTH-1;
if (count == 0)
return false;
if (count == 1)
{
BuildTrivialPath( pathEndPosition );
return true;
}
// build path
m_pathLength = count;
for( area = effectiveGoalArea; count && area; area = area->GetParent() )
{
--count;
m_path[ count ].area = area;
m_path[ count ].how = area->GetParentHow();
}
// compute path positions
if (ComputePathPositions() == false)
{
PrintIfWatched( "Error building path\n" );
DestroyPath();
return false;
}
// append path end position
m_path[ m_pathLength ].area = effectiveGoalArea;
m_path[ m_pathLength ].pos = pathEndPosition;
m_path[ m_pathLength ].ladder = NULL;
m_path[ m_pathLength ].how = NUM_TRAVERSE_TYPES;
++m_pathLength;
// do movement setup
m_pathIndex = 1;
m_areaEnteredTimestamp = gpGlobals->curtime;
m_spotEncounter = NULL;
m_goalPosition = m_path[1].pos;
if (m_path[1].ladder)
SetupLadderMovement();
else
m_pathLadder = NULL;
// find initial encounter area along this path, if we are in the early part of the round
if (IsSafe())
{
int myTeam = GetTeamNumber();
int enemyTeam = OtherTeam( myTeam );
int i;
for( i=0; i<m_pathLength; ++i )
{
if (m_path[i].area->GetEarliestOccupyTime( myTeam ) > m_path[i].area->GetEarliestOccupyTime( enemyTeam ))
{
break;
}
}
if (i < m_pathLength)
{
SetInitialEncounterArea( m_path[i].area );
}
else
{
SetInitialEncounterArea( NULL );
}
}
return true;
}
//--------------------------------------------------------------------------------------------------------------
/**
* Return estimated distance left to travel along path
*/
float CCSBot::GetPathDistanceRemaining( void ) const
{
if (!HasPath())
return -1.0f;
int idx = (m_pathIndex < m_pathLength) ? m_pathIndex : m_pathLength-1;
float dist = 0.0f;
Vector prevCenter = m_path[m_pathIndex].area->GetCenter();
for( int i=idx+1; i<m_pathLength; ++i )
{
dist += (m_path[i].area->GetCenter() - prevCenter).Length();
prevCenter = m_path[i].area->GetCenter();
}
return dist;
}
//--------------------------------------------------------------------------------------------------------------
/**
* Draw a portion of our current path for debugging.
*/
void CCSBot::DrawPath( void )
{
if (!HasPath())
return;
for( int i=1; i<m_pathLength; ++i )
{
UTIL_DrawBeamPoints( m_path[i-1].pos, m_path[i].pos, 2, 255, 75, 0 );
}
Vector close;
if (FindOurPositionOnPath( &close, true ) >= 0)
{
UTIL_DrawBeamPoints( close + Vector( 0, 0, 25 ), close, 1, 0, 255, 0 );
UTIL_DrawBeamPoints( close + Vector( 25, 0, 0 ), close + Vector( -25, 0, 0 ), 1, 0, 255, 0 );
UTIL_DrawBeamPoints( close + Vector( 0, 25, 0 ), close + Vector( 0, -25, 0 ), 1, 0, 255, 0 );
}
}